CLI tools

canopenctl

Monitor and decode CANopen traffic, read and write object dictionaries over SDO or USDO, manage nodes with NMT, assign node-IDs with LSS, boot a network as a CiA 302 manager, configure PDOs and MPDOs, work with EDS, DCF and concise DCF files, drive CiA 402 axes and simulate devices. Read-only by default; changes on a real bus need --yes.

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Protocols

CANopen: The application protocol that runs on CAN in machines, drives, lifts, medical and mobile equipment: an object dictionary per device, SDO to read and write it, PDOs for process data, NMT and heartbeats to manage the network, and EDS files that describe each device.

Works with

CAN bus: The two-wire bus of vehicles, machines, batteries and chargers, and the transport that CANopen, SAE J1939 and UDS run on: short frames with an identifier that names the message and sets its priority, CAN FD for longer and faster frames, CAN XL for up to 2048 bytes, and ISO-TP for messages above one frame.

The README on GitHub has the full feature list, examples and changelog.

go-canopen

CANopen (CiA 301) and CANopen FD on go-canbus: object dictionary, SDO and USDO, NMT, heartbeat, PDOs and MPDOs, SYNC, EMCY, TIME, LSS, a complete device and a CiA 302 network manager, EDS/DCF files, typed Go from an EDS and the CiA 402 drive profile. No cgo.

go get github.com/otfabric/go-canopen

canbusctl

Monitor, record, convert and replay CAN, CAN FD and CAN XL traffic, decode and encode with DBC, KCD or ARXML, run ISO-TP, simulate a database and test under faults. Passive by default; transmitting on a real bus needs --yes.

go-canbus

The CAN transport for Go: classical CAN, CAN FD and CAN XL frames on Linux SocketCAN, serial-line (slcan) adapters on every OS and a virtual bus, with ISO-TP, capture and replay in seven trace formats, and DBC, KCD and ARXML databases with a signal codec and a Go code generator. go-canopen runs on it. No cgo.

go get github.com/otfabric/go-canbus

canbus-interop

Seven independent CAN references in containers behind one contract: can-utils with the kernel's ISO-TP, python-can, socketcan-rs, Scapy, python-can-isotp, cantools and canmatrix, on Linux virtual CAN.

canopen-interop

Three independent CANopen stacks in containers behind one contract, as devices and masters: CANopenNode, Lely CANopen and python canopen, with EDS checkers, LSS, MPDOs and the CiA 302 boot-up, on Linux virtual CAN.

canopenctl

Protocols

Works with

Related projects